The continually increasing energy consumption represents a critical issue in modern heterogeneous computing systems. With the aid of dynamic voltage frequency scaling (DVFS), task scheduling is considered an effective software-based technique for reducing the total energy consumption and minimizing the overall schedule length (makespan). A natural solution is to reclaim the slack time in a given time-efficient schedule, which is also referred to as a "two-pass" method or a "rescheduling" method. A number of studies have focused on slack reclamation to achieve energy reductions through heuristics; although, these methods offer suboptimal solutions. In this article, the rescheduling optimization problem is formulated as a linear program for minimizing an energy objective function subject to precedence and deadline constraints implied in the given schedule. Two types of decision variables, ie, frequency duty factors and task intervals, are defined to set up the linear model. Consequently, an optimal solution to the problem can be provided in a straightforward manner by a linear programming solver, which suggests that such a rescheduling problem belongs to the P (polynomial time) class. The experimental results show the effectiveness of the proposed approach and demonstrate that the performance is superior to that of other competitive algorithms in terms of both energy saving and runtime efficiency. KEYWORDS dynamic voltage frequency scaling (DVFS), energy efficiency, heterogeneous computing system, linear programming, slack reclamation, task scheduling 1 INTRODUCTION A heterogeneous computing system (HCS) is a computing platform with diverse sets of heterogeneous computing resources connected by a high-speed network for processing parallel applications. 1 In recent decades, HCSs have been widely used in both scientific and commercial fields, such as supercomputing, cloud computing, and big data. For example, the world's fastest supercomputer "Sunway TaihuLight" has 40,960 computer nodes, each with 4 management processing elements (MPEs) and 256 computing processing elements (CPEs). Although it provides the most powerful computing capability, "Sunway TaihuLight" also consumes a tremendous amount of electrical energy, estimated at approximately 15,371 kW. 2,3At an approximate price of $0.1/kWh, its energy cost is approximately $13.46 million per year, which is far beyond the acceptable cost for many HCS operators. Furthermore, the energy cost of powering a typical data center doubles every five years. 4 In certain cases, the power cost may exceed the hardware purchase costs. 5 Besides, high energy consumption creates a number of environmental problems. 6,7 For example, in 2014, global data centers consumed up to 3% of the world's electricity production while causing 200 million metric tons of carbon emissions, thus accounting for approximately 2% of the world's greenhouse gas emissions. 8 On the other hand, a large portion of servers inside these data centers have relatively low average utilization efficiency. Observa...